Holding device, transport system, and controller

ABSTRACT

According to one embodiment, a holding device includes a holder and a controller. The holder is configured to hold an object. The controller is configured to determine a holding posture and a holding position of the holder with respect to the object so that at least one of protrusion of the holder from an outer shape of the object and protrusion of the object from an outer shape of the holder satisfies a predetermined condition when viewed in a direction in which the object and the holder overlap each other, based on information indicating the outer shape of the object.

CROSS-REFERENCE TO RELATED APPLICATION

This application is based upon and claims the benefit of priority fromJapanese Patent Application No. 2018-051345 filed on Mar. 19, 2018, theentire contents of which are incorporated herein by reference.

FIELD

Embodiments described herein relate generally to a holding device, atransport system, and a controller.

BACKGROUND

A holding device for holding and moving an object is known. It may bepreferable that moved objects be able to be packed densely by such aholding device.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram schematically showing a transport system accordingto a first embodiment.

FIG. 2 is a perspective view showing a holder of the first embodiment.

FIG. 3 is a bottom view showing an arrangement layout of a plurality ofsuckers according to the first embodiment.

FIG. 4 is a view showing a holding posture and a holding position of thefirst embodiment.

FIG. 5 is a block diagram showing a system configuration of thetransport system according to the first embodiment.

FIG. 6 is a plan view showing object outer shape information, holdableregion information, and calculation target region information accordingto the first embodiment.

FIG. 7 is a view showing holdable postures according to the firstembodiment.

FIG. 8 is a view showing model patterns of suckers according to thefirst embodiment.

FIG. 9 is a diagram showing a first step of model pattern selectionaccording to the first embodiment.

FIG. 10 is a diagram showing a second step of model pattern selectionaccording to the first embodiment.

FIG. 11A is a diagram showing an example of bitmap data showing a shapeand a size of a holdable region of the first embodiment.

FIG. 11B is a diagram showing an example of bitmap data showing a shape,a size, and a position of an effective sucker according to the firstembodiment.

FIG. 11C is a diagram showing an example of bit map data of acalculation result of a convolution according to the first embodiment.

FIG. 11D is a diagram showing an example of hit data obtained bybinarizing the calculation result of the convolution according to thefirst embodiment.

FIG. 12 is a view showing a plurality of holding postures and packingdensities according to the first embodiment.

FIG. 13 is a diagram showing an example of bit map data showing thenumber of sides of the outer shape of the object from which the holderprotrudes according to the first embodiment.

FIG. 14 is a diagram showing an example of data showing a set ofholdable positions satisfying a predetermined condition according to thefirst embodiment.

FIG. 15 is a view showing an example of a plurality of holdable posturesof the holder according to the first embodiment.

FIG. 16 is a flowchart showing an example of a process flow of acontroller according to the first embodiment.

FIG. 17 is a diagram showing an example of bitmap data showing thenumber of sides of the outer shape of the object from which the holderprotrudes according to a first modification example of the firstembodiment.

FIG. 18 is a plan view showing an example of a posture of an object at amovement source and an example of a posture of the object at a movementdestination according to a second modification example of the firstembodiment.

FIG. 19 is a cross-sectional view showing an example of a posture of anobject at a movement destination according to the second modificationexample of the first embodiment.

FIG. 20 is a cross-sectional view showing a via point through which anobject passes at a movement destination according to a thirdmodification example of the first embodiment.

FIG. 21 is a view showing a holder according to a fourth modificationexample of the first embodiment.

FIG. 22 is a diagram showing the amount of protrusion according to thefourth modification example of the first embodiment.

FIG. 23 is a perspective view showing a holder according to a fifthmodification example of the first embodiment.

FIG. 24 is a bottom view showing an example of an outer shape of theholder in consideration of an accessory component according to the fifthmodification example of the first embodiment.

FIG. 25 is a diagram showing the amount of protrusion according to thefifth modification example of the first embodiment.

FIG. 26 is a diagram showing the amount of protrusion evaluatedaccording to a second embodiment.

DETAILED DESCRIPTION OF THE INVENTION

According to one embodiment, a holding device includes a holder and acontroller. The holder is configured to hold an object. The controlleris configured to determine a holding posture and a holding position ofthe holder with respect to the object so that at least one of protrusionof the holder from an outer shape of the object and protrusion of theobject from an outer shape of the holder satisfies a predeterminedcondition when viewed in a direction in which the object and the holderoverlap each other, based on information indicating the outer shape ofthe object.

Hereinafter, a holding device, a transport system, a controller, and aholding method of embodiments will be described with reference to thedrawings. In the following description, components having the same orsimilar functions are denoted by the same reference numerals. Duplicatedescription of these components may be omitted. In the specification,the term “based on XX” represents “based at least on XX” and includesthe case of being based on any other element in addition to XX. Inaddition, the term “based on XX” is not limited to “based directly onXX”, but also represents “based on something that is acquired by anarithmetic operation or other process being performed on XX”. Here, “XX”is an arbitrary element (for example, arbitrary information).

A first embodiment will be described with reference to FIGS. 1 to 16.FIG. 1 is a diagram schematically showing a transport system 1 includinga holding device 10 according to the first embodiment. The transportsystem 1 is, for example, a handling system (picking system) fordistribution. The transport system 1 moves an object (that is, a holdingtarget, a transport target) O located at a movement source S1 to amovement destination S2.

The movement source S1 is, for example, one of various conveyors,various pallets, or containers such as totes and oricons, but is notlimited thereto. Various objects O having different sizes or weights arerandomly placed on the movement source S1. In the first embodiment, theobjects O (holding targets) include various objects from a small objectsuch as a 5 cm×5 cm-top face object to a large object such as a 30 cm×30cm-top face object. Further, the objects O includes various objects froma light object such as an object of tens of g to a heavy object such asan object of several kilograms. However, the size or the weight of theobject O is not limited to the above examples.

The movement destination S2 is, for example, a container such as a toteor an oricon, but the movement destination S2 is not limited thereto.The “container” broadly means a member (for example, a box-like member)that can accommodate the object O. Hereinafter, the “movementdestination S2” may be referred to as a “movement destination containerS2” for convenience of description. However, the holding device 10 andthe transport system 1 may move the object O to the movement destinationS2 other than a container.

Further, the holding device 10 and the transport system 1 are notlimited to a handling system for distribution, and can be widely appliedto industrial robot systems, other systems, and the like. The “holdingdevice”, the “transport system” and the “holding method” described inthe specification are not limited to devices, systems, and methods ofwhich a main purpose is transportation of objects, and include a device,a system, and a method involving the transport (movement) of an objectas a part of product assembly or other purposes.

First, an overall configuration of the transport system 1 will bedescribed. As shown in FIG. 1, the transport system 1 includes, forexample, a holding device 10, one or more first detectors 11, one ormore second detectors 12, and a management device 13.

The holding device (that is, transport device) 10 is, for example, arobot device, and holds an object O located at the movement source S1and moves the held object O to the movement destination S2. The holdingdevice 10 can communicate with the management device 13 in a wiredmanner or wirelessly. The holding device 10 will be described in detailbelow.

The first detector 11 is a camera or one of various sensors arrangednear the movement source S1 (for example, immediately above or obliquelyabove the movement source S1). For example, the first detector 11acquires information relating to the object O located at the movementsource S1 and information relating to the movement source S1. Theinformation acquired by the first detector 11 is, for example, “imagedata”, “distance image data”, and/or “shape data”. The “distance imagedata” is image data having distance information in one or moredirections (for example, depth information from an arbitrary referenceplane set above the movement source S1). The “shape data” is informationindicating an outer shape of the object O or the like. The informationdetected by the first detector 11 is output to the management device 13.The first detector 11 may be provided as a part of the holding device10. In this case, the information detected by the first detector 11 maybe directly output to the controller 300 (to be described below) of theholding device 10.

The second detector 12 is a camera or one of various sensors arrangednear the movement destination container S2 (for example, immediatelyabove or obliquely above the movement destination container S2). Thesecond detector 12, for example, detects information relating to a shapeof the movement destination container S2 (including a shape of an innerwall surface or a partition) and information relating to an object Opreviously placed in the movement destination container S2. Theinformation acquired by the second detector 12 is, for example, “imagedata”, “distance image data”, and/or “shape data”. It should be notedthat the second detector 12 may be provided as a part of the holdingdevice 10. In this case, the information detected by the second detector12 may be directly output to the controller 300 of the holding device10.

The management device (for example, higher-level controller) 13 performsmanagement and control of the entire transport system 1. For example,the management device 13 acquires the information detected by the firstdetector 11 and the second detector 12, and outputs the acquiredinformation to the holding device 10.

Next, the holding device 10 will be described. As shown in FIG. 1, theholding device 10 includes, for example, a moving mechanism 100, aholder 200, and a controller (that is, control device) 300.

The moving mechanism 100 is a mechanism that moves the holder 200 to adesired position. For example, the moving mechanism 100 is a six-axisvertical articulated robot arm and includes a plurality of arm members101, and a plurality of rotators 102 rotatably connecting the pluralityof arm members 101. However, the moving mechanism 100 may be a triaxialvertical robot arm, or may be a mechanism that moves the holder 200 to adesired position using other configurations. For example, the movingmechanism 100 may be a flying body (for example, a drone) or the likethat lifts and moves the holder 200 using rotary blades.

The holder 200 is a holding mechanism that holds the object O located atthe movement source S1. The holder 200 is connected to the movingmechanism 100 via a rotator 202 which will be described below. Forexample, the holder 200 includes a suction device 203, one or moresuckers 205 communicating with the suction device 203, and holds theobject O by suction. However, the holder 200 may be a holder that holdsthe object O by holding the object O using a plurality of pinchingmembers, or may be a holder that holds the object O using othermechanisms. It should be noted that, hereinafter, an example in whichthe holder 200 includes a plurality of suckers 205 will be described.

FIG. 2 is a perspective view showing the holder 200 of this embodiment.The holder 200 includes, for example, a base 201, a rotator 202, asuction device 203, a plurality of switching valves 204, and a pluralityof suckers 205 (for example, suction pads).

The base 201 has, for example, an outer shape which is a cubic shape,and forms an outer case of the holder 200. The base 201 is connected tothe moving mechanism 100 via the rotator 202. The base 201 may be formedin a box shape or may be configured only of a frame.

The rotator 202 is provided between the base 201 and the movingmechanism 100 and rotatably connects the base 201 to the movingmechanism 100. A rotation center axis C of the rotator 202 substantiallycoincides with a direction in which a distal end portion of the movingmechanism 100 and the base 201 are aligned. The rotator 202 can rotatethe base 201 of the holder 200 in a θ direction and a direction oppositethereto in FIG. 2 with respect to the moving mechanism 100. It should benoted that the rotator 202 may be provided as a part of the movingmechanism 100, not as a part of the holder 200.

The suction device 203 is provided inside the base 201. The suctiondevice 203 is, for example, a vacuum pump. The suction device 203communicates with each of the plurality of suckers 205 via a hose or thelike. In a case where the suction device 203 is driven, the pressure ineach sucker 205 becomes lower than an atmospheric pressure, and theobject O is sucked and held by the sucker 205.

The plurality of switching valves 204 are provided in one-to-onecorrespondence with the plurality of suckers 205. Each switching valve204 can be switched between a first state in which the correspondingsucker 205 and the suction device 203 communicate with each other and asecond state in which communication between the corresponding sucker 205and the suction device 203 is blocked and the sucker 205 externallycommunicates with the outside (that is, atmospheric pressure space) ofthe holding device 10. In a case where the object O is relatively small,the holding device 10 causes only one or a small number of suckers 205selected from the plurality of one of more suckers 205 to function assuckers 205 (hereinafter, “effective sucker 205E”) to be used forholding. It should be noted that in some of the figures described below,by applying a dot pattern to the effective suckers 205E among theplurality of suckers 205, the effective suckers 205E and the othersuckers 205 are shown to be distinguished from each other.

The plurality of suckers 205 are arranged side by side in one endportion of the base 201. The sucker 205 has an outer shape smaller thana smallest object to be located at the movement source S1. In a casewhere the object O is relatively small and light, the holding device 10sucks and holds the object O using only one or more effective suckers205E selected from the plurality of suckers 205. This embodiment is anexample in which a 5 cm×5 cm-top face object can be placed at themovement source S1, and the sucker 205 has, for example, a circularshape having a diameter of 4 cm.

On the other hand, an upper limit is set for the weight of the object Othat each of the suckers 205 can suck and hold as a single body. In acase where the object O is relatively large and heavy, the holdingdevice 10 sucks and holds the heavy object O using two or more effectivesuckers 205E together among the plurality of suckers 205. In the firstembodiment, a weight that can be sucked and held by one sucker 205 is,for example, approximately 2 kg. In the first embodiment, the holder 200can hold the object O of a maximum of about 10 kg by providing with fivesuckers 205.

FIG. 3 is a bottom view showing an arrangement layout of the pluralityof suckers 205 according to the first embodiment. In the firstembodiment, an outer shape of the holder 200 (for example, an outershape of the base 201) has, for example, a square shape of 12 cm×12 cm.As described above, the holder 200 includes five suckers 205. The fivesuckers 205 include one sucker 205 disposed substantially at a center ofthe holder 200 and four suckers 205 separated and arranged around thecenter sucker 205 to correspond to four corners of the holder 200. Thefour suckers 205 can be rotated in the θ direction and the directionopposite thereto about the rotation center axis C of the rotator 202 bythe above-described rotator 202 being rotated.

Here, a “holding posture” and a “holding position” described in thisspecification are defined. FIG. 4 is a view showing the “holdingposture” and the “holding position”. The “holding posture” in thisspecification means an angular position (that is, a rotational positionin the θ direction) of the holder 200 with respect to the object O. Forexample, in a case where the “holding posture” is changed from a stateof (a) in FIG. 4, a position of a center of the holder 200 (that is, therotation center axis C of the rotator 202) is not changed from the stateof (a) in FIG. 4, but an orientation of the outer shape of the holder200 with respect to the outer shape of the object O is changed. Theholding posture of the holder 200 can be changed due to rotation of therotator 202.

On the other hand, the “holding position” in this specification means aposition in a case where the holder 200 is moved in parallel withrespect to the object O. For example, in a case where the “holdingposition” is changed from the state of (a) in FIG. 4, the “holdingposture” of the holder 200 is not changed from the state of (a) in FIG.4, but the position of the center of the holder 200 with respect to thecenter of the object O is changed. The holding position of the holder200 can be changed due to the operation of the moving mechanism 100.

Next, the controller 300 will be described. The controller 300 controlsthe overall operation of the holding device 10. The controller 300 is anexample of a “controller”. FIG. 5 is a block diagram showing a systemconfiguration of the transport system 1. The controller 300 includes,for example, an information acquirer 310, an information analyzer 320, aplanner 330, an operation controller 340, and a storage 350.

For example, all or a part of each functional unit (for example, theinformation acquirer 310, the information analyzer 320, the planner 330,and the operation controller 340) is realized, for example, by one ormore processors such as a central processing unit (CPU) or a graphicsprocessing unit (GPU) executing a program stored in a program memory.However, all or a part of each functional unit may be realized byhardware (for example, a circuit; circuitry) such as a large scaleintegration (LSI), an application specific integrated circuit (ASIC), afield-programmable gate array (FPGA), or a programmable logic device(PLD). All or some of the functional units may be realized in acombination of the software functional unit and the hardware. Thestorage 350 is realized by a flash memory, an electrically erasableprogrammable read-only memory (EEPROM), a read-only memory (ROM), arandom access memory (RAM), and the like.

Here, for convenience of description, the storage 350 will first bedescribed. For example, an object database 351 (hereinafter referred toas “object DB 351”), a model pattern database 352 (hereinafter referredto as a “model pattern DB 352”), information indicating the outer shapeof the holder 200 (hereinafter referred to as a “holder outer shapeinformation”), and information indicating a weight that can be held byeach sucker 205 are stored in the storage 350.

For example, the type or identification information of the objects Olocated at the movement source S1 and the weight information of theobjects O are registered in association with each other in the object DB351. Model patterns relating to the suckers 205 are registered in themodel pattern DB 352. The model pattern will be described below indetail. Information indicating a position of one or more the effectivesucker 205E in each model pattern is registered in the model pattern DB.

The “holder outer shape information” includes, for example, informationindicating the outer shape of the holder 200 when viewed in a specificdirection D (see FIG. 1). The specific direction D is, for example, adirection in which the object O and the holder 200 overlap each other ata timing at which the object O is placed within the movement destinationcontainer S2 (for example, a timing immediately before the object O isreleased). In another viewpoint, the “specific direction D” is adirection in which the suckers 205 come into contact with the object Oin a case where the holder 200 including the suckers 205 is provided.

It should be noted that the object DB 351, the model pattern DB 352, theholder outer shape information, and the information indicating theholdable weight of each sucker 205 may be stored in the managementdevice 13 instead of being stored in the storage 350 of the holdingdevice 10, or may be stored in another device with which the holdingdevice 10 can communicates via a network.

Next, each functional unit of the controller 300 will be described. Theinformation acquirer 310 acquires the information detected by the firstdetector 11 and the second detector 12 from the management device 13.“Acquire” described in the present specification is not limited to acase in which information is acquired by sending a transmission request,and includes a case in which information is acquired through passivereception. The information acquirer 310 outputs the information acquiredfrom the first detector 11 and the second detector 12 to the informationanalyzer 320.

Further, the information acquirer 310 acquires information indicatingthe weight of the object O (that is, a holding target) located at themovement source S1. For example, the information acquirer 310 determinesthe type or identification information of the object O based on featureinformation of the object O included in the image data detected by thefirst detector 11 (for example, tag information such as radio frequencyidentifier (RFID) attached to the object O), and acquires weightinformation registered corresponding to the determined type oridentification information of the object O from the object DB 351. Theinformation acquirer 310 outputs the acquired weight information to theplanner 330 as “object weight information”.

The information analyzer 320 generates various types of information usedfor control of the holding device 10 based on the information detectedby the first detector 11 and the second detector 12. For example, theinformation analyzer 320 generates at least a part of the information byperforming a predetermined image process on the image data or distanceimage data. The above information includes, for example, “object outershape information”, “holdable region information”, “calculation targetregion information”, “movement source shape information”, “movementdestination shape information”, and “movement destination loadinginformation”. The information analyzer 320 outputs such information tothe planner 330.

FIG. 6 is a plan view showing the “object outer shape information”, the“holdable region information”, and the “calculation target regioninformation”.

The “object outer shape information” is, for example, image data of theobject O, distance image data of the object O, shape data of the objectO, or information derived from at least one of the image data of theobject O, the distance image data of the object O, and the shape data ofthe object O. The “object outer shape information” is informationindicating the outer shape of the object O (that is, a holding target)located at the movement source S1. The “object outer shape information”includes, for example, information indicating the outer shape of theobject O when viewed in the specific direction D.

The “holdable region information” is, for example, the image data of theobject O, the distance image data of the object O, the shape data of theobject O, or information derived from at least one of the image data ofthe object O, the distance image data of the object O, and the shapedata of the object O. The “holdable region information” is informationindicating a region RH (hereinafter referred to as “holdable region RH”)that can be held by the holder 200 in a surface of the object O. Theholdable region RH is specified as a region extending in the surface ofthe object O. The holdable region RH is, for example, a flat portion inthe surface of the object O, but is not limited to a perfect plane. Forexample, the holdable region RH may be flat to be able to be held by thesucker 205, and may include fine irregularities or steps. In the firstembodiment, the information analyzer 320 determines a continuous regionhaving no irregularities or steps exceeding a threshold in the surfaceof the object O detected by the first detector 11 to be the holdableregion RH, and generates “holdable region information” based on thedetermination.

The “calculation target region information” is information indicating atarget region (hereinafter referred to as a “calculation target regionRC”) in which a convolution calculation to be described below isperformed in the surface of the object O. In the first embodiment, thecalculation target region RC is expressed using a polygon circumscribingthe holdable region RH. For example, the “calculation target regioninformation” is information indicating a shape and a size of the polygoncircumscribing the holdable region RH and a posture (inclination) of thepolygon with respect to the outer shape of the object O. The informationanalyzer 320 generates the “calculation target region information” byobtaining a polygon circumscribing the holdable region RH.

The “movement source shape information” is information indicating ashape of the movement source S1 serving as an obstacle when the object Oat the movement source S1 is held by the holder 200. The informationanalyzer 320 generates the “movement source shape information” based onthe information detected by the first detector 11, for example.

The “movement destination shape information” is information indicating ashape of the movement destination S2 serving as an obstacle when theobject O is moved to the movement destination S2. For example, the“movement destination shape information” is information indicating awall that defines an inner wall surface of the movement destinationcontainer S2 or a partition provided inside the movement destinationcontainer S2. The “movement destination loading information” isinformation indicating the object O previously placed in the movementdestination container S2. The information analyzer 320 generates the“movement destination shape information” and the “movement destinationloading information” based on the information detected by the seconddetector 12, for example.

Next, referring back to FIG. 5, the planner 330 will be described. Theplanner 330 includes, for example, a holding plan generator 330 a and amovement plan generator 330 h. The holding plan generator 330 agenerates a holding plan for holding the object O located at themovement source S1 by the holder 200. The movement plan generator 330 bgenerates a movement plan for moving the object O held by the holder 200to the movement destination S2.

First, the holding plan generator 330 a will be described. The holdingplan generator 330 a of the first embodiment determines a holdingposture and a holding position of the holder 200 with respect to theobject O so that protrusion of the holder 200 from the outer shape ofthe object O satisfies predetermined conditions when viewed from thedirection (for example, the specific direction D) in which the object Oand the holder 200 overlap. In order to realize this function, theholding plan generator 330 a includes, for example, a first determiner331, an evaluator 332, and a second determiner 333. It should be notedthat, in the following description, “protrusion” means, for example, aprotrusion in a plane perpendicular to the specific direction D.

(Process of First Determiner)

First, the first determiner 331 will be described. The first determiner331 determines a plurality of holdable postures of the holder 200 withrespect to the object O based on the information indicating the holdableregion RH of the object O (the “holdable region information” describedabove). The “holdable posture” is the holding posture of the holder 200capable of holding the object O located at the movement source S1, andis an evaluation target of the evaluator 332. For example, the firstdeterminer 331 may determine various holding postures in each of which asufficient number of suckers 205 capable of holding the weight of theobject O are disposed within the holdable region RH of the object O, asholdable postures.

FIG. 7 is a view showing the holdable postures. For example, FIG. 7shows an example of three holding postures in which two effectivesuckers 205E are disposed within the holdable region RH. The threeholdable postures differ from each other in an angular position of theouter shape of the holder 200 with respect to the outer shape of theobject O. (a) in FIG. 7 shows the holding posture in which the holder200 protrudes from three sides of the outer shape of the object O. (b)in FIG. 7 shows the holding posture in which the holder 200 protrudesfrom two sides of the outer shape of the object O. (c) in FIG. 7 showsthe holding posture in which the holder 200 protrudes from one side ofthe outer shape of the object O.

Further, in the first embodiment, in addition to determining theplurality of holdable postures, the first determiner 331 determines aplurality of holdable positions of the holder 200 with respect to theobject O in each of the plurality of holdable postures. The “holdableposition” is a holding position of the holder 200 capable of holding theobject O located at the movement source S1, and is an evaluation targetof the evaluator 332. For example, the first determiner 331 determineseach of various holding positions at which a sufficient number of thesuckers 205 capable of holding the weight of the object O are disposedwithin the holdable region RH of the object O, as a holdable position.

Hereinafter, an example of a process of the first determiner 331 will bedescribed in detail. In the first embodiment, the first determiner 331determines a plurality of holdable postures and a plurality of holdablepositions in each of the plurality of holdable postures based oninformation indicating the holdable region RH of the object O (the“holdable region information” described above), information indicatingthe weight of the object O (the “object weight information” describedabove), and model patterns relating to the suckers 205. The processesinclude (a) a model pattern selection process, and (b) a holdableposture and holdable position determination process.

<Model Pattern>

First, a “model patterns relating to suckers” will be described as apremise. FIG. 8 is a diagram showing model patterns relating to thesuckers 205 of the first embodiment. Here, in a case where one or asmall number of suckers 205 are selected and used as the effectivesuckers 205E from the plurality of suckers 205, there are a plurality ofarrangement patterns as arrangement positions of the effective suckers205E. For example, in a case where there are five suckers 205 as in thefirst embodiment, there are 31 arrangement patterns.

Here, in a case where the arrangement positions of the plurality ofsuckers 205 and the outer shape of the holder 200 have symmetry(hereinafter referred to as “symmetry of the arrangement position of thesuckers 205 and the like”), the plurality of arrangement patterns of thesuckers 205 can be limited to a small number of model patterns based onthe symmetry of the arrangement positions of the suckers 205 and thelike. For example, in a case where there are five suckers 205 as in thisembodiment, the 31 arrangement patterns can be limited to the eightmodel patterns shown in FIG. 8. Therefore, a part of the calculationregarding the determination of the holdable posture can be performed byperforming calculation on only the eight model patterns instead ofcalculating the 31 arrangement patterns in a round-robin manner. Byusing such a model pattern, it is possible to reduce the necessaryamount of calculation for determining the holding posture and theholding position of the holder 200. Accordingly, it is possible toreduce a calculation load and speed up calculations necessary forgeneration of the holding plan.

Here, a shape and a size of a region necessary for the surface of theobject O when each model pattern is used is set as a necessary region RNfor each model pattern. This necessary region RN is registered in themodel pattern DB 352 in association with the corresponding modelpattern.

<First Step of Model Pattern Selection>

First, a first step of model pattern selection will be described. FIG. 9is a diagram showing the first step of the model pattern selection. Inthe first step, the first determiner 331 excludes one or more modelpattern in which the necessary region RN is not included in the holdableregion RH (that is, a model pattern in which all the effective suckers205E are not disposed within the holdable region RH) from among theeight model patterns based on the holdable region information and theinformation indicating the necessary region RN in each model pattern.For example, the first determiner 331 compares a size of the holdableregion RH with a size of the necessary region RN in each model pattern,and determines whether or not the model pattern is a model pattern inwhich the necessary region RN is included in the holdable region RH.

For example, in the example shown in FIG. 9, a diagonal length L1 of along side and a short side of a quadrangle circumscribing the holdableregion RH is 135 mm, and a length L2 in a longitudinal direction of thenecessary region RN in a model pattern of F is 150 mm. Therefore, themodel pattern of F is excluded as a model pattern in which the necessaryregion RN is not included in the holdable region RH. Similarly, modelpatterns G and H are excluded as model patterns in which the necessaryregion RN is not included in the holdable region RH.

<Second Step of Model Pattern Selection>

Next, a second step of the model pattern selection will be described.FIG. 10 is a diagram showing the second step of the model patternselection. In the second step, the first determiner 331 excludes a modelpattern that cannot hold the object O in terms of weight (that is, amodel pattern in which the number of effective suckers 205E isinsufficient) based on the object weight information and informationindicating a weight that can be held by each of the suckers 205. Forexample, the first determiner 331 multiplies the number of the effectivesuckers 205E in each model pattern by the weight that can be held byeach of the suckers 205 to calculate the weight that can be held by theholder 200 in each model pattern. The first determiner 331 compares thecalculated weight that can be held by the holder 200 with the weight ofthe object O, and determines that the object O can be held using themodel pattern in a case where the weight that can be held by the holder200 is greater than the weight of the object O. Accordingly, the firstdeterminer 331 further narrows down the model patterns capable ofholding the object O in terms of weight from among the one or more modelpatterns narrowed down in the first step.

For example, in the example shown in FIG. 10, the weight of the object Ois about 3 kg, and the weight that can be held by each sucker 205 isabout 2 kg. Therefore, model patterns A and B are excluded as modelpatterns that cannot hold the object O from among the five modelpatterns (A, B, C, D, and E) left in the first step.

The first determiner 331 selects one or more model patterns from amongthe eight model patterns by performing narrowing-down in the first stepand the second step. It should be noted that the process of the firststep and the process of the second step may be executed in a reverseorder.

<Process of Determining Holdable Posture and Holdable Position>

Next, a process of determining the holdable posture and the holdableposition will be described. Here, the process of determining theholdable posture and the holdable position regarding the model patternof C in FIG. 10 will be described as a representative example forconvenience of description. It should be noted that the same process isperformed on each of the other model patterns (for example, modelpatterns D and E in the example shown in FIG. 10) left in the selectionof the model pattern described above.

In the embodiment, a determination of the holdable posture and theholdable position of the holder 200 is performed through convolutionusing bit map data indicating the shape and size of the holdable regionRH and bit map data indicating a shape, a size, and a position of theeffective sucker 205E in each model pattern.

FIG. 11A shows an example of bitmap data showing the shape and size ofthe holdable region RH. This bitmap data is an example of the “holdableregion information”. The bit map data shown in FIG. 11A, for example, isbinarized, “1” is registered at a coordinate position corresponding tothe inside of the holdable region RH, and “0” is registered at acoordinate position corresponding to the outside of the holdable regionRH. In the embodiment, an outer shape of a quadrangle shown in FIG. 11Acorresponds to the outer shape of the calculation target region RC. Thatis, the bitmap data of FIG. 11A corresponds not to the entire region ofone surface of the surfaces of the object O but to a region inside thecalculation target region RC. The outer shape of the calculation targetregion RC is obtained based on the “calculation target regioninformation” described above. By limiting the calculation target regionRC to a partial region of the surface of the object O in this way, it ispossible to reduce the necessary amount of calculation as compared withthe case in which the calculation of the convolution is performed on theentire region of one surface among the surfaces of the object O.Accordingly, it is possible to reduce a calculation load and speed upcalculations necessary for generation of the holding plan.

FIG. 11B shows an example of bitmap data showing the shape, the size,and the position of the effective suckers 205E corresponding to themodel pattern of C in FIG. 10. This bitmap data is an example of“information indicating the positions of the effective suckers in themodel pattern”. The bitmap data shown in FIG. 11B, for example, isbinarized. “1” is registered at a coordinate position corresponding tothe inside of the effective sucker 205E, and “0” is registered at acoordinate position corresponding to the outside of the effective sucker205E. An outer shape of a quadrangle shown in FIG. 11B corresponds tothe outer shape of the holder 200.

FIG. 11C shows an example of bitmap data of a calculation result ofconvolution using bitmap data showing the shape and the size of theholdable region RH shown in FIG. 11A and bitmap data showing the shape,the size, and the position of the effective suckers 205E shown in FIG.11B. For example, a numerical value “42” at a coordinate position d1 inFIG. 11C is a result of calculation in a case where the convolution isperformed while matching the coordinate position d2 in FIG. 11B (thecenter of the holder 200) with the coordinate position d1 in FIG. 11A.In the first embodiment, an outer shape of a quadrangle shown in FIG.11C corresponds to the outer shape of the calculation target region RC,as in FIG. 11A. In the first embodiment, the convolution is performed oneach of all the coordinate positions included in the calculation targetregion RC.

FIG. 11D shows an example of bit map data in which the calculationresult shown in FIG. 11C is binarized. In the first embodiment, a bitmaptable shown in FIG. 11D is data in which “1” is registered for acoordinate position indicating the maximum value (“42” in the aboveexample) in the calculation result of the convolution shown in FIG. 11C,and “0” is registered for a coordinate position indicating other values.Each of the coordinate positions at which “1” is registered in thebitmap data in FIG. 11D is a coordinate position (a holdable position)at which all the effective suckers 205E are disposed within the holdableregion RH in a case where a center of the holder 200 is aligned withthis coordinate position.

It should be noted that the process described with reference to FIGS.11A to 11D is a calculation result of convolution for a certain holdingposture regarding the model pattern of C in FIG. 10. The processdescribed with reference to FIGS. 11A to 11D is performed on each of aplurality of holding postures in which the holder 200 is rotated at apredetermined angle in the θ direction with respect to the object O(that is, a plurality of holding postures in which angular positions ofthe holder 200 with respect to the object O are different from eachother). The predetermined angle may be a small angular interval such as1 degree or 5 degrees, or may be a large angular interval such as 30degrees, 45 degrees, or 60 degrees. It should be noted that althoughFIGS. 11A to 11D show an example in which relatively coarse bitmap datais used for convenience of description, the positions of the effectivesuckers 205E in a case where the holder 200 is rotated at apredetermined angle may be indicated using relatively fine bitmap data.

It should be noted that a verification range of the holding posture inwhich it is necessary for the calculation to be performed differsaccording to the model patterns. That is, in a case where the modelpattern does not have rotational symmetry of 360 degrees or less (forexample, the model pattern of E or U shown in FIG. 8), it is necessaryfor the above process to be performed on each of a plurality of holdingpostures obtained by rotating the holder 200 at a predetermined angle ina range of 360 degrees. On the other hand, in a case where the modelpattern has rotational symmetry of 360 degrees or less (for example, themodel pattern of C and D shown in FIG. 8), the above process may beperformed on each of a plurality of holding postures obtained byrotating the holder 200 at a predetermined angle only in a range ofangles (for example, 90 degrees) smaller than 360 degrees.

Incidentally, there may also be a holding posture in which not all ofthe effective suckers 205E are disposed within the holdable region RHamong a plurality of holding postures in which the holder 200 is rotatedat a predetermined angle with respect to the object O. In a case where amaximum value of the calculation result of the convolution is smallerthan a value (“42” in the example shown in FIG. 11C) calculated in acase where all the effective suckers 205E are disposed within theholdable region RH), the first determiner 331 determines that theholding posture is a posture in which all the effective suckers 205E arenot disposed within the holdable region RH, and does not determine thatholding posture as a holdable posture.

Through the above process, the first determiner 331 extracts a pluralityof holding postures in which all the effective suckers 205E are arrangedin the holdable region RH. The first determiner 331 determines theplurality of extracted holding postures and the holding positions atwhich all the effective suckers 205E are disposed within the holdableregion RH in each holding posture to be the holdable postures and theholdable positions that are evaluation targets of the evaluator 332.

It should be noted that the first determiner 331 may determine aplurality of holdable postures in which all the effective suckers 205Eare disposed within the holdable region RH and the holdable positions atwhich all the effective suckers 205E are disposed within the holdableregion RH in each holdable posture based on an inclusive detection usingvertex information that defines the outer shape of the holdable regionRH, or other calculations instead of the convolution.

(Process of Evaluator)

Next, the evaluator 332 will be described. Here, superiority orinferiority of various holding postures of the holder 200 when theobject O is moved within the movement destination container S2(so-called packing is performed) will be described. FIG. 12 is a diagramshowing a plurality of holding postures and box packing densitiesaccording to the holding postures. (a) in FIG. 12 shows the holdingposture in which the holder 200 protrudes from three sides of the outershape of the object O. In this holding posture, it is difficult for theobject O to be packed into a corner of the movement destinationcontainer S2 due to the holder 200 interfering with the movementdestination container S2. (b) in FIG. 12 shows the holding posture inwhich the holder 200 protrudes from two sides of the outer shape of theobject O. In this holding posture, although the object O can be packedinto the corner of the movement destination container S2, it may bedifficult for another object O to be packed densely with respect to apreviously placed object O. (c) in FIG. 12 shows a holding posture inwhich the holder 200 protrudes only from one side of the outer shape ofthe object O. In this holding posture, it is relatively easy to pack theobject O into a corner of the movement destination container S2, and itis relatively easy to pack another object O densely with respect to apreviously placed object O. Therefore, it can be said that the holdingposture shown in (c) is preferable among the plurality of holdingpostures of (a) to (c) in FIG. 12.

In the first embodiment, the evaluator 332 evaluates protrusion of theholder 200 from the outer shape of the object O for each of theplurality of holdable postures determined by the first determiner 331based on information indicating the outer shape of the object O (the“object outer shape information” described above) and informationindicating the outer shape of the holder 200 (the “holder outer shapeinformation” described above). Further, in the first embodiment, theevaluator 332 evaluates protrusion of the holder 200 from the outershape of the object O at each of the plurality of holdable positions,for each of the plurality of holdable postures.

Specifically, in the first embodiment, the evaluator 332 evaluates theprotrusion of the holder 200 from the outer shape of the object O basedon an amount of protrusion of the holder 200 from the outer shape of theobject O. For example, the “amount of protrusion” is the number of sidesof the outer shape of the object O from which the holder 200 protrudesin a case where the outer shape of the object O is regarded as a polygon(for example, in a case where the outer shape of the object O isregistered as a polygon or a shape approximating a polygon). In anotherexample, the amount of protrusion is an area of a portion of the holder200 protruding from the outer shape of the object O.

FIG. 13 is an example of bit map data showing the number of sides of theouter shape of the object O from which the holder 200 protrudes. Thatis, in a case where a center of the holder 200 is aligned with acoordinate position, the number of sides of the outer shape of theobject O from which the holder 200 protrudes is registered at respectivecoordinate positions of the bitmap data shown in FIG. 13. It should benoted that the coordinate positions of the bitmap data of FIG. 13correspond to the coordinate positions of the bitmap data of FIG. 11D.Such bitmap data is generated by the evaluator 332 based on the objectouter shape information and the holder outer shape information.

FIG. 14 shows an example of bit map data showing a set of holdablepositions at which the amount of protrusion is minimized regarding oneholdable posture. For example, FIG. 14 shows bitmap data obtained byextracting, from the bitmap data of FIG. 13, only the numerical value ofthe coordinate position at which a minimum numerical value (the numberof sides from which the holder 200 protrudes) is registered in thebitmap data of FIG. 13 among a plurality of coordinate positions of thebitmap data of FIG. 13 corresponding to the plurality of coordinatepositions (the plurality of holdable positions) at which “1” isregistered in the bitmap data of FIG. 11D.

That is, in the example shown in FIG. 14, there is no coordinateposition at which “2” is registered in the bitmap data in FIG. 13 amongthe plurality of coordinate positions of the bitmap data of FIG. 13corresponding to the plurality of coordinate positions at which “1” isregistered in the bitmap data of FIG. 11D. Therefore, the numericalvalue (“1”) of the coordinate position at which “1” is registered in thebitmap data of FIG. 13 among a plurality of coordinate positions of thebitmap data of FIG. 13 corresponding to the plurality of coordinatepositions at which “1” is registered in the bitmap data of FIG. 11D isextracted from the bit map data of FIG. 13. The bitmap data as shown inFIG. 14 is generated by the evaluator 332, for example.

The evaluator 332 specifies a minimum value of the amount of protrusion(for example, a minimum value of the number of sides of the outer shapeof the object O from which the holder 200 protrudes) and the holdablepositions at which the amount of protrusion is a minimum value in theholdable posture that corresponds to the bitmap data based on the bitmapdata as shown in FIG. 14. In the example shown in FIG. 14, the evaluator332 specifies that the minimum value of the number of sides of theholder 200 protruding from the outer shape of the object O is “1”, andthat the number of sides of the outer shape of the object O from whichthe holder 200 protrudes is a minimum value at a plurality of coordinatepositions (a plurality of holdable positions) at which “1” is registeredin FIG. 14. The evaluator 332 outputs, to the second determiner 333,information indicating the specified minimum value of the amount ofprotrusion and the holdable positions at which the amount of protrusionis a minimum value in the holdable posture.

Here, the first determiner 331 may determine a plurality of holdablepostures in which angular positions of the holders 200 are differentwith respect to the object O in some cases, as described above. In thiscase, the evaluator 332 performs the above-described process (theprocess of the evaluator 332) on each of the plurality of holdablepostures determined by the first determiner 331, and specifies a minimumvalue of the amount of protrusion in the holdable posture and theholdable positions in which the amount of protrusion is the minimumvalue in the holdable posture with respect to each of the plurality ofholdable postures.

It should be noted that, in a case where a plurality of model patterns(model patterns C, D, and E in the example shown in FIG. 10) areselected in the selection of the model pattern described above, theabove-described process (the process of the evaluator 332) is performedon all the selected model patterns.

Further, in a case where the holdable posture is determined using amodel pattern limited based on the symmetry of the arrangement positionsof the plurality of suckers 205 and the like, the evaluator 332 performsthe above-described process (the process of the evaluator 332) on eachof the plurality of arrangement patterns of the suckers 205 before thelimitation which are the basis of the model pattern, and specifies theminimum value of the amount of protrusion in the holdable posture ineach arrangement pattern and the holdable positions in which the amountof protrusion is the minimum value in a holdable posture for each of theplurality of arrangement patterns before the limitation.

(Process of Second Determiner)

Next, the second determiner 333 will be described. The second determiner333 determines the holding posture and the holding position of theholder 200 to be adopted from among the plurality of holdable posturesand the plurality of holdable positions determined by the firstdeterminer 331 based on the evaluation results of the evaluator 332. Forexample, the second determiner 333 determines the holding posture andthe holdable position of the holder 200 from the plurality of holdablepostures and the plurality of holdable positions so that the amount ofprotrusion satisfies a first condition.

“Satisfy a first condition” indicates, for example, the holdable posturein which the amount of protrusion is minimized or equal to or smallerthan a predetermined value among the plurality of holdable posturesdetermined by the first determiner 331. As described above, in a casewhere the outer shape of the object O is regarded as, for example, apolygon, the amount of protrusion is the number of sides of the outershape of the object O from which the holder 200 protrudes. In anotherexample, the amount of protrusion is an area of a portion of the holder200 protruding from the outer shape of the object O.

In a case where the amount of protrusion is the number of sides of theouter shape of the object O from which the holder 200 protrudes,“satisfying a predetermined first condition” indicates, for example, theholdable posture in which the number of sides from which the holder 200protrudes in the outer shape of the object O is minimized or equal to orsmaller than a predetermined number (for example, equal to or smallerthan 1) among the plurality of holdable postures. However, “equal to orsmaller than a predetermined number” is not limited to “equal to orsmaller than 1”, and may be set to “equal to or smaller than 2” and maybe set to be equal to or smaller than other numbers based on a type of apolygon to which the holder 200 is approximated.

Here, in a case where the holder 200 protrudes from two sides of theouter shape of the object O, the second determiner 333 may determine theholdable posture in which the two sides are continuous with each otherto be a holding posture of the holder 200 in preference to a holdableposture in which the two sides are not continuous with each other. FIG.15 is a diagram showing an example of a plurality of holdable posturesof the holder 200. “The two sides are continuous with each other” meansthat, for example, as shown in (a) in FIG. 15, two sides J1 and J2 ofthe outer shape of the object O from which the holder 200 protrudes arecontinuous with each other (are connected to each other). On the otherhand, “the two sides are not continuous with each other” means that, forexample, as shown in (b) in FIG. 15, two sides J1 and J3 of the outershape of the object O from which the holder 200 protrudes are notcontinuous with each other (for example, are opposite sides).

On the other hand, in a case where the amount of protrusion is the areaof the portion of the holder 200 protruding from the outer shape of theobject O, “satisfying the predetermined first condition” means that thearea of the portion of the holder 200 protruding from the outer shape ofthe object O is a minimum value or is equal to or smaller than apredetermined value.

It should be noted that the amount of protrusion may be calculated basedon both “the number of sides of the outer shape of the object O fromwhich the holder 200 protrudes” and “the area of the portion of theholder 200 protruding from the outer shape of the object O”.

Further, the evaluator 332 may specify at least one of a direction inwhich the holder 200 should not protrude from the outer shape of theobject O and a side of the object O from which the holder 200 should notprotrude, based on the information on the movement destination S2 of theobject O (for example, the “movement destination shape information” andthe “movement destination loading information” described above), andincrease a weight for the amount of protrusion of the holder 200relating to the at least one of the specified direction and thespecified side of the object O. “Increase a weight” described hereinmeans making a holding posture of the holder 200 more difficult to beadopted. Thus, it is possible to suppress selection of the holdingposture in which the outer shape of the holder 200 protrudes in thespecified direction or from the specified side of the object O.

Further, the evaluator 332 may set constraint conditions regarding theholding posture and holding position of the holder 200 based on theinformation on the movement source of the object O (for example, the“movement source shape information” described above), and select theholding posture and the holding position of the holder 200 under therestriction conditions.

Through the process described above, the holding plan generator 330 adetermines the holding posture and the holding position of the holder200. The holding plan generator 330 a outputs the determined holdingposture and holding position as a control target to the operationcontroller 340.

Next, the movement plan generator 330 b will be described. The movementplan generator 330 b generates a movement plan to move the object O heldby the holder 200 to the movement destination S2 based on theinformation on the movement destination S2 of the object O (for example,the “movement destination shape information” and the “movementdestination loading information” described above). In the firstembodiment, the movement plan generator 330 b generates the movementplan based on the holding posture and the holding position determined bythe holding plan generator 330 a. For example, the movement plangenerator 330 b generates a movement plan in which a direction in whichthe holder 200 does not protrude from the outer shape of the object O orthe side of the object O from which the holder 200 does not protrude isadjacent to the inner wall surface of the movement destination containerS2 or a previously placed object O.

Next, the operation controller 340 will be described. The operationcontroller 340 controls the holder 200 and the moving mechanism 100based on the holding plan and the movement plan that are planned by theplanner 330. For example, the operation controller 340 controls themoving mechanism 100 and the holder 200 based on the holding plangenerated by the holding plan generator 330 a, and holds the object Owith the holding posture and the holding position of the holder 200determined by the holding plan generator 330 a. The operation controller340 controls the moving mechanism 100 and the holder 200 based on themovement plan generated by the movement plan generator 330 b to move theobject O into the movement destination container S2.

Next, an example of a process flow of the controller 300 will bedescribed. FIG. 16 is a flowchart showing an example of a flow of aprocess of the controller 300. First, the first determiner 331 acquiresa plurality of model patterns limited based on the symmetry of thearrangement positions of the suckers 205 and the like from the storage350 (S101). It should be noted that the model pattern may be derivedevery time by the first determiner 331 instead of being acquired fromthe storage 350.

Then, the first determiner 331 selects the model patterns in which allvalid suckers 205E are arranged within the holdable region RH from amongthe plurality of model patterns based on the holdable region informationand the information indicating the position of the effective sucker 205Ein each model pattern (S102). That is, the first determiner 331 performsa process of the first step of the model pattern selection describedabove.

Then, the first determiner 331 also selects the model patterns that canhold the weight of the object O from among the plurality of modelpatterns selected in the first step based on the object weightinformation and the information indicating the weight that can be heldby each sucker 205 (S103). That is, the first determiner 331 performs aprocess of the second step of the model pattern selection describedabove.

Then, the first determiner 331 determines the holdable posture and theholdable position of the holder 200 for each of one or more (forexample, a plurality of) model patterns selected through the first stepand the second step (S104). For example, the first determiner 331 firstselects one model pattern. The first determiner 331 determines one ormore (for example, a plurality of) holdable posture of the holder 200and one or more (for example, a plurality of) holdable positions in eachholdable posture, for the selected model pattern.

Then, the evaluator 332 evaluates protrusion of the holder 200 from theouter shape of the object O at each of one or more (for example, aplurality of) holdable positions in each holdable posture with respectto each of one or more (a plurality of) holdable postures of the holder200 (S105). In the first embodiment, for example, the number of sides ofthe outer shape of the object O from which the holder 200 protrudes iscalculated.

Then, the evaluator 332 determines whether or not the processes of S104and S105 have been performed on all the model patterns selected throughthe first and second steps (S106). In a case where it is determined thatthe processes of S104 and S105 have been performed on all the selectedmodel patterns, the process proceeds to S107. On the other hand, in acase where it is determined that there is the model pattern on which theprocesses of S104 and S105 have not been performed among all the modelpatterns, the processes of S104 and S105 are performed on such a modelpattern. Accordingly, the evaluator 332 repeats the processes of S104and S105 so that the processes of S104 and S105 are performed on all themodel patterns.

Next, the second determiner 333 determines the holding posture and theholding position in which the amount of protrusion from the object Osatisfies the first condition (for example, the number of sides of theouter shape of the object O from which the holder 200 protrudes is aminimum or equal to or smaller than the predetermined number) among theholding postures and the holding positions evaluated by the evaluator332 to be the holding posture and the holding position to be adopted(S107). The second determiner 333 outputs information indicating thedetermined holding posture and determined holding position to theoperation controller 340.

It should be noted that, in a case where the holdable posture and theholdable position in which the preset first condition is satisfied (forexample, the number of sides of the outer shape of the object O fromwhich the holder 200 protrudes becomes equal to or smaller than thepredetermined number) are found even in a step in which the processes ofS104 and S105 for all the model patterns in the evaluator 332 are notended (more specifically, in a step in which the processes of S104 andS105 for the plurality of holdable postures regarding the first selectedmodel pattern are not ended), the second determiner 333 may end theevaluation in the evaluator 332 at that time, and determine the foundholdable posture and the found holdable position to be the holdingposture and the holding position to be adopted. According to such aprocess, it is possible to reduce a calculation load and speed upcalculations necessary for generation of the holding plan.

According to such a configuration, it is possible to pack the objects Othat is a transport target densely. For example, in a case where theobject is moved into the movement destination container (so-calledpacking is performed), it may be desirable to pack the object, which isa transport target, densely with respect to the inner wall surface ofthe movement destination container or the previously placed object whilecontrolling the object and the holder not to interfere with thesurroundings in order to improve a filling rate of the movementdestination container. However, in a general transport device, theholding posture with respect to the object is often determined whilefocusing only on the easiness of holding the object at the movementsource, and the holding posture at the time of packing is notconsidered. Therefore, the holder interferes with the movementdestination container or the previously placed object at the time ofpacking, and the position at which the object is placed is restricted.Accordingly, a filling rate of the packing may decrease. Further,generally, the holder performing the packing operation is often smallerthan the outer shape of the object, and the holder 200 larger than theouter shape of the object O as in this embodiment is not considered.

On the other hand, in the first embodiment, the holding device 10includes the controller 300 that determines the holding posture and theholding position of the holder 200 with respect to the object O in orderto reduce the interference of the holder 200 with the inner wall surfaceof the movement destination container S or the previously placed objectO. According to such a configuration, it is difficult for the holder 200to interfere with the movement destination container S2 or thepreviously placed object O, and it is difficult for the position atwhich the object O is placed to be restricted. Therefore, it is easy forthe object O, which is a transport target, to be packed densely withrespect to the inner wall surface of the movement destination containerS2 and the previously placed object O. As a result, it is possible toimprove a filling rate of the packing. The improvement of the fillingrate of the packing makes it possible to improve transport efficiencyand reduce a transport cost.

In the first embodiment, the holding device 10 includes the firstdeterminer 331, the evaluator 332, and the second determiner 333. Thefirst determiner 331 determines a plurality of holdable postures of theholder 200 with respect to the object O based on the informationindicating the holdable region RH. The evaluator 332 evaluates theprotrusion of the holder 200 from the outer shape of the object O foreach of the plurality of holdable postures based on informationindicating the outer shape of the object O. The second determiner 333determines the holding posture of the holder 200 from among theplurality of holdable postures based on the evaluation of the evaluator332. According to such a configuration, it is possible for the evaluator332 to evaluate each of a plurality of holdable postures capable ofholding the object O, and it is possible to determine a more suitableholding posture. Accordingly, it may be possible to further pack theobject O densely.

In the first embodiment, the first determiner 331 determines a pluralityof holdable positions of the holder 200 with respect to the object O ineach of the plurality of holdable postures. The evaluator 332 evaluatesprotrusion of the holder 200 from the outer shape of the object O ateach of the plurality of holdable positions for each of the plurality ofholdable postures. The second determiner 333 determines the holdingposture and the holding position of the holder 200 based on theevaluation of the evaluator 332. According to such a configuration, itis possible for the evaluator 332 to perform the evaluation on each ofthe plurality of holdable positions in each holdable posture, inaddition to the plurality of holdable postures, and it is possible todetermine a more suitable holding posture and holding position.

In the first embodiment, the evaluator 332 evaluates an amount ofprotrusion of the holder 200 from the outer shape of the object O. Thesecond determiner 333 determines the holding posture and the holdingposition of the holder 200 so that the amount of protrusion of theholder 200 from the outer shape of the object O satisfies the firstcondition. According to such a configuration, the holding posture andthe holding position in which the amount of protrusion from the outershape of the object O is relatively small are determined. Accordingly,the objects O can be packed more densely in some cases.

In the first embodiment, the amount of protrusion may be the number ofsides of the outer shape of the object O from which the holder 200protrudes. According to such a configuration, the holding posture andholding position in which the number of sides of the outer shape of theobject O from which the holder 200 protrudes is small are determined.Accordingly, the outer shape of the holder 200 is less likely to becomean obstacle, and the objects O can be packed more densely in some cases.

Here, in a case where the holder 200 protrudes from two sides of theouter shape of the second object O, the holdable posture in which thetwo sides are continuous with each other may be determined to be aholding posture of the holder 200 in preference to the holdable posturein which the two sides are not continuous with each other. According tosuch a configuration, the object O that is a transport target is easilyfurther packed on an inner wall surface of the movement destinationcontainer S2 or on the previously placed object O.

In the first embodiment, the amount of protrusion may be the area of theportion of the holder 200 protruding from the outer shape of the object.According to such a configuration, the holding posture and holdingposition in which the area of the portion of the holder 200 protrudingfrom the outer shape of the object O is small are determined.Accordingly, the outer shape of the holder 200 is less likely to becomean obstacle, and the objects O can be packed more densely in some cases.

Next, several modification examples of the first embodiment will bedescribed. In each of the modification examples, configurations otherthan those described below are substantially the same as those of thefirst embodiment.

First Modification Example

A first modification example relates to a transport system 1 in whichthe outer shape of the object O may be smaller than the outer shape ofthe holder 200. FIG. 17 shows an example of bit map data showing thenumber of sides of the outer shape of the object O from which the holder200 protrudes in a case where the outer shape of the object O is smallerthan the outer shape of the holder 200. In a case where the outer shapeof the object O is smaller than the outer shape of the holder 200, it isimpossible to set the amount of protrusion of the holder 200 from theouter shape of the object O to zero. In such a case, using the bitmapdata as shown in FIG. 17, the controller 300 determines the holdingposture in which the holder 200 protrudes from the two sides of theouter shape of the object O to be the holding posture of the holder 200.

Second Modification Example

A second modification example relates to a case in which there is adesired posture of the object O at the movement destination S2. FIG. 18is a plan view showing an example of the posture of the object O at themovement source S1 and an example of the posture of the object O at themovement destination S2. In the example shown in FIG. 18, at themovement source S1, the object C) is in a posture in which the object Ois laid. Here, in a case where the posture at the movement destinationS2 of the object O is not taken into consideration, the plurality ofholdable regions RH1 and RH2 are specified as the holdable regions RH.

FIG. 19 is a cross-sectional view showing an example of the posture ofthe object O at the movement destination S2. In the example shown inFIG. 19, the object O is in a standing posture at the movementdestination S2. In this case, in a case where the first holdable regionRH1 among the plurality of holdable regions RH is held by the holder 200at the movement source S1, the holder 200 may interfere with themovement destination container S2 and it may be difficult for the objectO to be packed densely (see (a) in FIG. 19).

Therefore, in the second modification example, the evaluator 332performs weighting in the evaluation calculation of the amount ofprotrusion (that is, the calculation of the amount of protrusion) basedon the information indicating the posture of the object O in themovement destination container S2. For example, in a case where theobject O to be placed in a specific posture within the movementdestination container S2, the evaluator 332 performs weighting so thatthe amount of protrusion is increased as the amount of interferencebetween the movement destination container S2 or the previously placedobject O and the holder 200 in the posture is increased. Accordingly,the second determiner 333 can determine a holding posture and a holdingposition in consideration of the specific posture of the object O at themovement destination S2. Accordingly, in a case in which there are aplurality of holdable regions RH (for example, holdable regions RH1 andRH2) in the object O, the second determiner 333 can select the secondholdable region RH2 in which the amount of interference between themovement destination container S2 and the holder 200 in the specificposture is relatively smaller in a case where the object O is to beplaced in the specific posture at the movement destination container S2(see (b) in FIG. 19).

It should be noted that the “information indicating the posture of theobject in the movement destination container” is obtained, for example,by information detected by the second detector 12 disposed near themovement destination S2 being analyzed by the information analyzer 320.Further, the “information indicating the posture of the object in themovement destination container” may be registered as a part of theobject DB 351 in advance. In this case, the information acquirer 310 maydetermine the type or identification information of the object O basedon the feature information of the object O (for example, tag informationattached to the object O) included in the image data detected by thefirst detector 11, and acquire the “information indicating the postureof the object in the movement destination container” registeredcorresponding to the determined type or identification information ofthe object O.

Third Modification Example

A third modification example relates to a case in which the object O isaccommodated at a final position via one or more via points at themovement destination S2. FIG. 20 is a cross-sectional view showing viapoints through which the object O passes at the movement destination S2.FIG. 20 shows an example in which the object O is inserted into a gapbetween an inner wall surface of the movement destination container S2and a previously placed object O. In such a case, the object O isinserted via several via points K1, K2, and K3 at a gradually changedinclination angle along the previously placed object O (using the objectO as a fulcrum) such that it is easy for the object O to be smoothlyinserted in some cases.

Therefore, in the third modification example, the evaluator 332 performsweighting in the evaluation and calculation of the amount of protrusion(that is, the calculation of the amount of protrusion) based on theinformation indicating the via points K1, K2, and K3 through which theobject O passes at the movement destination container S2. For example,the evaluator 332 performs weighting so that the amount of protrusionbecomes larger as the amount of interference between the moving movementdestination container S2 or the previously placed object O and theholder 200 at each of the via points K1, K2, and K3 increases.Accordingly, the second determiner 333 can determine the holding postureand the holding position in consideration of the via points K1, K2, andK3 during the movement of the object O. The “information indicating viapoints through which the object passes in the movement destinationcontainer” is derived, for example, based on the movement destinationshape information and the movement destination loading informationdescribed above.

Fourth Modification Example

A fourth modification example relates to the holder 200 having a crosssection other than a rectangle. FIG. 21 is a diagram showing the holder200 in this modification example. As shown in FIG. 21, the holder 200includes, for example, a columnar outer shape. FIG. 22 is a diagramshowing the amount of protrusion of the modification example. Forexample, (a) in FIG. 22 shows a holding posture in which the holder 200protrudes from two sides of the outer shape of the object O. On theother hand, (b) in FIG. 22 shows a holding posture in which the holder200 protrudes from four sides of the outer shape of the object O. Withsuch a configuration, it is possible to evaluate the amount ofprotrusion from the outer shape of the object O, as in the firstembodiment.

Fifth Modification Example

A fifth modification example relates to a case in which the outer shapeof the holder 200 is set in consideration of an accessory component 206such as a cable. FIG. 23 is a perspective view showing the holder 200.Here, even in a case where the shape of the holder 200 is designed to beas slim as possible, it is necessary for the accessory component 206exposed to the outside to be provided in the holder 200 since varioussensors or the like are required to be attached.

Therefore, in this modification example, the accessory component 206(for example, a cable) exposed to the outside of the holder 200 isregarded as a part of the outer shape of the holder 200 in addition tothe outer shape of the base 201, and information indicating the outershape of the holder 200 (“holder outer shape information” describedabove) is set. FIG. 24 is a bottom view showing an example of the outershape of the holder 200 set in consideration of the accessory component206. The outer shape of the holder 200 includes a bulge corresponding toa region in which there is the accessory component 206.

The evaluator 332 evaluates the amount of protrusion of the holder 200from the object O based on the information indicating the outer shape ofthe holder 200 including the accessory component 206. FIG. 25 is adiagram showing the amount of protrusion of the modification example.For example, (a) in FIG. 25 shows a holding posture in which the holder200 protrudes from four sides of the outer shape of the object O. On theother hand, (b) in FIG. 25 shows a holding posture in which the holder200 protrudes from two sides of the outer shape of the object O.According to such a configuration, it is possible to evaluate the amountof protrusion from the outer shape of the object O further inconsideration of the accessory component 206.

Second Embodiment

Next, a second embodiment will be described. This embodiment isdifferent from the first embodiment in that protrusion of the object Ofrom the outer shape of the holder 200 is evaluated in place of theprotrusion of the holder 200 from the outer shape of the object O. Itshould be noted that configurations other than those described below arethe same as those in the first embodiment.

(Process of Evaluator)

FIG. 26 is a diagram showing an amount of protrusion that is evaluatedin the second embodiment. In the second embodiment, the evaluator 332evaluates protrusion of the object O from the outer shape of the holder200 for each of a plurality of holdable postures determined by the firstdeterminer 331 based on information indicating an outer shape of theobject O (the “object outer shape information” described above) andinformation indicating an outer shape of the holder 200 (the “holderouter shape information” described above). Further, in the secondembodiment, the evaluator 332 evaluates the protrusion of the object Ofrom the outer shape of the holder 200 at each of the plurality ofholdable positions, for each of the plurality of holdable postures. InFIG. 26, a portion of the object O protruding from the outer shape ofthe holder 200 is hatched for convenience of description.

Specifically, in the second embodiment, the evaluator 332 evaluates theprotrusion of the object O from the outer shape of the holder 200 basedon the amount of protrusion of the object O from the outer shape of theholder 200. The “amount of protrusion” is the number of sides of theouter shape of the holder 200 from which the object O protrudes, forexample, in a case where the outer shape of the holder 200 is regardedas a polygon (for example, the outer shape of the holder 200 isregistered as a polygon or a shape approximating the polygon). Further,in another example, the amount of protrusion is an area of a portion ofthe object O protruding from the outer shape of the holder 200.

(Process of Second Determiner)

In the second embodiment, the second determiner 333 determines theholding posture and the holding position of the holder 200 from amongthe plurality of holdable postures and the plurality of holdablepositions determined by the first determiner 331 based on an evaluationresult of the evaluator 332. For example, the second determiner 333determines the holding posture and the holdable position of the holder200 from the plurality of holdable postures and the plurality ofholdable positions so that the amount of protrusion satisfies a secondcondition.

“Satisfy the second condition” means, for example, that the amount ofprotrusion becomes equal to or larger than a predetermined amount orwithin the predetermined range among the plurality of holdable posturesdetermined by the first determiner 331. The amount of protrusion is, forexample, the number of sides of the outer shape of the holder 200 fromwhich the object O protrudes in a case where the outer shape of theholder 200 is regarded as a polygon. Further, in another example, theamount of protrusion is also an area of a portion of the object Oprotruding from the outer shape of the holder 200.

In a case where the amount of protrusion is the number of sides of theouter shape of the holder 200 from which the object O protrudes,“satisfy a predetermined second condition” means that the number ofsides of the outer shape of the holder 200 from which the object Oprotrudes is equal to or larger than a predetermined number (forexample, equal to or larger than 2). However, “equal to or larger thanpredetermined number” is not limited to be “equal to or larger than 2”and may be set to be “equal to or larger than 1” or may be set to be“equal to or larger than 3” or equal to or larger than another number.

Here, in a case where the holder 200 protrudes from two sides of theouter shape of the object O, the second determiner 333 may determine theholdable posture in which the two sides are continuous with each otherto be a holding posture of the holder 200 in preference to the holdableposture in which the two sides are not continuous with each other.

On the other hand, in a case where the amount of protrusion is the areaof the portion of the object O protruding from the outer shape of theholder 200, “satisfy the predetermined second condition” means, forexample, that the area of the portion of the object O protruding fromthe outer shape of the holder 200 is within a predetermined range.

It should be noted that the amount of protrusion may be calculated basedon both “the number of sides of the outer shape of the holder 200 fromwhich the object O protrudes” and “the area of the portion of the objectO protruding from the outer shape of the holder 200”.

Further, the evaluator 332 may specify at least one of a direction inwhich the object O should protrude from the outer shape of the holder200 and a side of the holder 200 from which the object O shouldprotrude, based on the information on the movement destination S2 of theobject O (for example, the “movement destination shape information” andthe “movement destination loading information” described above), andincreases a weight for the amount of protrusion of the object O relatingto at least one of the specified direction and the specified side of theholder 200. “Increase a weight” described herein means making it easy tobe adopted as the holding posture of the holder 200. Thus, it is easyfor the holding posture in which the object O protrudes in the specifieddirection or from the specified side of the holder 200 to be selected.

According to such a configuration, the object O protrudes from the outershape of the holder 200 in a state in which the object O is held by theholder 200. Therefore, it is easy for the object O that is a transporttarget to be packed densely with respect to an inner wall surface of themovement destination container S2 or the previously placed object O, asin the first embodiment. It should be noted that the second embodimentmay be implemented in combination with concepts described in the firstto fifth modification examples of the first embodiment.

Although some embodiments and modification examples have been describedabove, the embodiments are not limited to the above examples. Forexample, the holding posture and the holding position may be determinedbased on both the protrusion of the holder 200 from the outer shape ofthe object O and the protrusion of the object O from the outer shape ofthe holder 200. Further, the outer shape of the object O and the outershape of the holder 200 are not limited to the rectangle and may be atriangle or may be a polygon including a pentagon or more.

In addition, some functional units of the controller 300 may be providedin the management device 13 instead of the holding device 10. Forexample, the information acquirer 310, the information analyzer 320, theplanner 330, and the storage 350 may be provided in the managementdevice 13. The planner 330 is an example of the “information processor”.

According to at least one embodiment described above, the transportdevice includes the controller that determines a holding posture and aholding position of the holder with respect to the object so that atleast one of protrusion of the holder from an outer shape of the objectand protrusion of the object from an outer shape of the holder satisfiesa predetermined condition. According to such a configuration, it may beeasy for objects to be packed densely.

While certain embodiments have been described, these embodiments havebeen presented by way of example only, and are not intended to limit thescope of the inventions. Indeed, the novel embodiments described hereinmay be embodied in a variety of other forms; furthermore, variousomissions, substitutions and changes in the form of the embodimentsdescribed herein may be made without departing from the spirit of theinventions. The accompanying claims and their equivalents are intendedto cover such forms or modifications as would fall within the scope andspirit of the inventions.

What is claimed is:
 1. A holding device comprising: a holder configuredto hold an object; and a controller configured to determine a holdingposture and a holding position of the holder with respect to the objectso that at least one of protrusion of the holder from an outer shape ofthe object and protrusion of the object from an outer shape of theholder satisfies a predetermined condition when viewed in a direction inwhich the object and the holder overlap each other, based on informationindicating the outer shape of the object, wherein the predeterminedcondition is satisfied when the controller determines that a number ofsides from which the holder protrudes among sides of the outer shape ofthe object is minimum or equal to or smaller than a predeterminednumber, or when the controller determines that a number of sides fromwhich the object protrudes among sides of the outer shape of the holderis equal to or larger than a predetermined number, and wherein thecontroller comprises: a first determiner configured to determine aplurality of holdable postures of the holder with respect to the objectbased on information indicating a holdable region that can be held bythe holder in a surface of the object; an evaluator configured toevaluate at least one of the protrusion of the holder from the outershape of the object and the protrusion of the object from the outershape of the holder for each of the plurality of holdable posturesdetermined by the first determiner based on information indicating theouter shape of the object; and a second determiner configured todetermine the holding posture of the holder from among the plurality ofholdable postures based on the evaluation by the evaluator.
 2. Theholding device according to claim 1, wherein the first determinerdetermines a plurality of holdable positions of the holder for each ofthe plurality of holdable postures, the evaluator evaluates at least oneof the protrusion of the holder from the outer shape of the object andthe protrusion of the object from the outer shape of the holder at eachof the plurality of holdable positions, for each of the plurality ofholdable postures, and the second determiner determines the holdingposture and the holding position of the holder based on the evaluationby the evaluator.
 3. The holding device according to claim 1, whereinthe evaluator evaluates the protrusion of the holder from the outershape of the object based on an amount of the protrusion of the holderfrom the outer shape of the object, and the second determiner determinesthe holding posture and the holding position of the holder so that theamount of protrusion of the holder from the outer shape of the objectsatisfies a first condition.
 4. The holding device according to claim 3,wherein the amount of protrusion is the number of sides from which theholder protrudes among the sides of the outer shape of the object in acase where the outer shape of the object is regarded as a polygon. 5.The holding device according to claim 4, wherein the second determinerdetermines the holding posture and the holding position of the holder sothat the number of sides from which the holder protrudes among the sidesof the outer shape of the object is minimum or equal to or smaller thana predetermined number.
 6. The holding device according to claim 4,wherein in a case where the holder protrudes from two sides among thesides of the outer shape of the object, the second determiner determinesa holdable posture in which the two sides are continuous with each otheras the holding posture in preference to a holdable posture in which thetwo sides are not continuous with each other.
 7. The holding deviceaccording to claim 3, wherein the amount of protrusion is an area of aportion of the holder protruding from the outer shape of the object. 8.The holding device according to claim 7, wherein the second determinerdetermines the holding posture and the holding position of the holder sothat the area of the portion of the holder protruding from the outershape of the object is a minimum value or is equal to or smaller thanthe predetermined value.
 9. The holding device according to claim 3,wherein the evaluator specifies at least one of a direction in which theholder should not protrude from the outer shape of the object and a sideof the object from which the holder should not protrude, based oninformation on a movement destination of the object, and the evaluatorincrease a weight for the amount of protrusion of the holder relating toat least one of the specified direction and the specified side of theobject.
 10. The holding device according to claim 1, wherein theevaluator evaluates the protrusion of the object from the outer shape ofthe holder based on an amount of the protrusion of the object from theouter shape of the holder, and the second determiner determines theholding posture and the holding position of the holder so that theamount of protrusion of the object from the outer shape of the holdersatisfies a second condition.
 11. The holding device according to claim10, wherein the amount of protrusion is the number of sides of theholder from which the object protrudes among the sides of the outershape of the holder in a case where the outer shape of the holder isregarded as a polygon.
 12. The holding device according to claim 10,wherein the evaluator specifies at least one of a direction in which theobject should protrude from the outer shape of the holder and a side ofthe holder from which the object should protrude, based on informationon a movement destination of the object, and the evaluator increase aweight for the amount of protrusion of the object relating to at leastone of the specified direction and the specified side of the holder. 13.The holding device according to claim 1, wherein the holder comprises aplurality of suckers, and the first determiner determines a plurality ofholding postures in each of which at least one sucker included in theplurality of suckers is disposed within the holdable region, as theplurality of holdable postures.
 14. The holding device according toclaim 13, wherein the first determiner determines the plurality ofholding postures using at least one model pattern obtained by limitingarrangement patterns of the plurality of suckers based on symmetry ofarrangement positions of the plurality of suckers.
 15. A transportationsystem comprising: an information acquirer configured to acquireinformation indicating an outer shape of an object; and an informationprocessor configured to determine a holding posture and a holdingposition of a holder with respect to the object so that at least one ofprotrusion of the holder from the outer shape of the object andprotrusion of the object from an outer shape of the holder satisfies apredetermined condition when viewed in a direction in which the objectand the holder overlap, based on information obtained from theinformation acquirer, wherein the predetermined condition is satisfiedwhen the information processor determines that a number of sides fromwhich the holder protrudes among sides of the outer shape of the objectis minimum or equal to or smaller than a predetermined number, or whenthe information processor determines that a number of sides from whichthe object protrudes among sides of the outer shape of the holder isequal to or larger than a predetermined number, and wherein theinformation processor comprises: a first determiner configured todetermine a plurality of holdable postures of the holder with respect tothe object based on information indicating a holdable re ion that can beheld by the holder in a surface of the object; an evaluator configuredto evaluate at least one of the protrusion of the holder from the outershape of the object and the protrusion of the object from the outershape of the holder for each of the plurality of holdable posturesdetermined by the first determiner based on information indicating theouter shape of the object; and a second determiner configured todetermine the holding posture of the holder from among the plurality ofholdable postures based on the evaluation by the evaluator.
 16. Acontroller comprising: an information acquirer configured to acquireinformation indicating an outer shape of an object; and an informationprocessor configured to determine a holding posture and a holdingposition of a holder with respect to the object so that at least one ofprotrusion of the holder from the outer shape of the object andprotrusion of the object from an outer shape of the holder satisfies apredetermined condition when viewed in a direction in which the objectand the holder overlap each other, based on information obtained fromthe information acquirer, wherein the predetermined condition issatisfied when the information processor determines that a number ofsides from which the holder protrudes among sides of the outer shape ofthe object is minimum or equal to or smaller than a predeterminednumber, or when the information processor determines that a number ofsides from which the object protrudes among sides of the outer shape ofthe holder is equal to or larger than a predetermined number, andwherein the information processor comprises: a first determinerconfigured to determine a plurality of holdable postures of the holderwith respect to the object based on information indicating a holdable reion that can be held by the holder in a surface of the object; anevaluator configured to evaluate at least one of the protrusion of theholder from the outer shape of the object and the protrusion of theobject from the outer shape of the holder for each of the plurality ofholdable postures determined by the first determiner based oninformation indicating the outer shape of the object; and a seconddeterminer configured to determine the holding posture of the holderfrom among the plurality of holdable postures based on the evaluation bythe evaluator.
 17. The holding device according to claim 1, wherein thepredetermined condition is satisfied when the controller determines thatthe number of sides from which the holder protrudes among the sides ofthe outer shape of the object is minimum or equal to or smaller than thepredetermined number.
 18. The holding device according to claim 1,wherein the predetermined condition is satisfied when the controllerdetermines that the number of sides from which the object protrudesamong the sides of the outer shape of the holder is equal to or largerthan the predetermined number.